UBIROS Gentle Duo Metric User manual

First fully electrically actuated soft robotic gripper
GENTLE DUO
USER MANUAL
September 2019
Copyright c 2019

UbirosInc
ubiros_inc
@UBIROS1
[email protected]
Congratulations on your purchase of Gentle Duo: A patent pending, mechanically
intelligent robotic hand that automatically conforms around a large range of object sizes
and shapes to pick them up, gently. Gentle Duo is the first electrically actuated soft robotic
gripper and it offers individual finger actuation!
Contact Us
UBIROS INC
251 W Central St. Ste. #35
Natick MA 01760
[phone]
ubiros.com
Your product ID:
GNT ______-______________
It can also be found on your gripper, please record and refer to it when contacting us.

3
TABLE OF CONTENTS
MOUNTING............................................................................................................................................. 4
Mounting steps....................................................................................................................................... 4
ELECTRICAL CONNECTION ............................................................................................................... 5
Universal Robots e-Series...................................................................................................................... 5
Universal Robots CB-series................................................................................................................... 5
KUKA IIVA ........................................................................................................................................... 5
Yaskawa Motoman HC10 w/YRC1000micro controller....................................................................... 5
OPERATION ............................................................................................................................................ 6
Universal Robots e- and CB-Series ....................................................................................................... 6
KUKA IIVA ........................................................................................................................................... 6
Yaskawa Motoman HC10 w/YRC1000micro controller....................................................................... 6
GRIPPER SETUP..................................................................................................................................... 7
TECHNICAL SPECIFICATIONS............................................................................................................ 7

4
MOUNTING
Your package includes a universal mechanical adapter to mount Gentle Duo Mini on your robotic arm.
It allows Gentle Duo Mini to be mounted on all ISO flanges between 31.5 mm and 63 mm. See the
dimensions of the universal mounting plate below (Figure 1).
Mounting steps
1. Attach the universal mounting adapter to your robot’s tool flange using 4 screws (provided)
2. Insert UBIROS Gentle Duo Mini inside the Universal Mounting Plate
3. Put the provided M3 screws through the holes on the side wall and tighten gently
Figure 1. Universal mounting adapter

5
ELECTRICAL CONNECTION
Gentle Duo Mini requires 24V power and takes in a digital input signal of up to 24V to open and close
the fingers to predefined positions (see GRIPPER SETUP). Please note Gentle Duo Mini’s digital input
requires at least 13V to turn HIGH.
Universal Robots e-Series
1. Connect the short cable to the connector at the wrist
2. Turn Tool Output 1 power to 24V (sourcing) using the teach pendant
Universal Robots CB-series
Provided connection cable comprises 3 flying leads:
1. Attach the flying leads in appropriate pins in the control box as follows:
a. The RED lead to any 0V pin
b. The GREY lead to any 24V pin
c. The PINK lead to the DO1 pin
KUKA IIVA
Flanges: media flange IO pneumatic (X11-X12), media flange IO electrical (X41, 42), media flange IO
valve pneumatic (X91, X92)
1. Connect the short cable to one of the 8-pin connectors at the wrist
2. Turn on the power (24V)
Yaskawa Motoman HC10 w/YRC1000micro controller
1. Provide a separate 24VDC power supply for connection through the “S” connector at the base of
the robot and through to connector S-2 (0.3mm2 pins 9 – 16) at the wrist exit. Two of the wires
will supply Gentle Duo Mini with power from the auxiliary power supply. The PINK Gentle Duo
Mini lead is signal where +24V is gripper open and 0V is gripper closed. Select a third wire from
S-2 for the signal that will pass through the S connector at the base.
2. Apply a low current coil relay similar to the Releco C10-A10X (Coil draws 32mA @ 24VDC) to
the din rail with the CN4 breakout board. Pass the +24V from the aux power supply through the
normally open contact and out to the robot wrist via the third wire selected (in step 1) passing to
the wire in the S-2 connector. That will be used as the digital input to Gentle Duo Mini as follows:
a. Attach to one side of the relay coil a digital output pin on the CN4 (OUT 5 is pin #16)
This is an NPN output so if the coil is polarity sensitive connect it to the negative.
b. Attach a +24V for Output Load terminal to the other side of the coil (Pin 15 on the CN4
is one such pin)

6
OPERATION
Universal Robots e- and CB-Series
Download free URCAPS from ubiros.com/buy-now for simple operation. You can also use the SET
function to set Tool Output 1 (TO1) or Digital Output 1 (DO1) to 1 (HIGH - Open) or 0 (LOW - Close)
to operate.
KUKA IIVA
Flanges: media flange IO pneumatic (X11-X12), media flange IO electrical (X41, 42), media flange IO
valve pneumatic (X91, X92)
If you plugged your cable in X11, X41, or X91, set MF_Output_0 to 1 (HIGH - Open) or 0 (LOW -
Close) to operate, otherwise Set MF_Output_2 appropriately.
Yaskawa Motoman HC10 w/YRC1000micro controller
Just add a DigitalOut command in your program to open or close the UBIROS. In the wiring example
from earlier in this document it would be a DigitalOut #5 ON (see Figure 2) to open it and a DigitalOut
#5 OFF to close it, be sure to add a timer to allow the gripper time to open or close before your next
action.
Move to the drop position
Open the UBIROS gripper
Wait for the gripper to finish opening
On the DT versions of the HC10 you can also tie the wrist button 2 to the output you are using and in
hand jogging mode that button will toggle the gripper open/closed.
Figure 2 Sample Code for Yaskawa HC10

7
GRIPPER SETUP
Gentle Duo Mini is pre-programmed to host its own WiFi Access Point. You can adjust Gentle Duo
Mini’s settings by following the steps below:
1. Connect any WiFi-enabled device to the WiFi network
named “Ubiros-<Product ID>”. (Please note that this
network is not connected to the Internet)
2. Enter the WiFi password: GentleUbiros
3. After the connection is established, your device should
automatically open a web page. If this doesn’t happen in a
few seconds, open any web browser and go to:
http://192.168.4.1/ to access the control panel. See below
(Click “Go”, Gentle Pro will show the new position.
4. Enter the current threshold for part confirmation signal.
5. Click “Save Values” to makes positions permanent (will
survive a power cycle).
6. When fingers are misaligned, use calibration buttons to fix.
7. )
8. Using the sliders on the page adjust the finger stroke to the
best level for your application. 0 indicates straight fingers.
Positive numbers move fingers towards the palm.
WARNING: setting these sliders above 85% and
gripping large objects may cause damage to the gripper.
If you need high values, adjust in smaller steps.
9. Click “Go”, Gentle Pro will show the new position.
10. Enter the current threshold for part confirmation signal.
11. Click “Save Values” to makes positions permanent (will
survive a power cycle).
12. When fingers are misaligned, use calibration buttons to fix.
TECHNICAL SPECIFICATIONS
Metric
Imperial
Weight
800 g
1.8 lbs
Gripper Dimensions
100 / 172 mm
3.9 / 6.8 in
Enclosure Dimensions
100 / 84 mm
3.9 / 3.3 in
Finger dimensions
75 / 20 / 40 mm
3.0 / 0.8 / 1.6 in
Number of fingers
2
2
Grasp type
Pinch
Pinch
Payload
1,500 g
3.3 lbs
Max finger opening (tip)
175 mm
6.9 in
Finger distance (base)
28 mm
1.1 in
Grasping speed
200 ms
200 ms
Maximum cycle
500,000
500,000
Power
24 V, 1 A
24 V, 1 A
Control Interface
Digital I/O
Digital I/O
Finger material
Silicone
Silicone
Enclosure material
Anodized Aluminum
Anodized Aluminum
Figure 3. Gentle Duo Mini Control
Panel

8
Flange
ISO 31.5-63
ISO 31.5-63
Individual finger actuation
Enabled
Enabled
Water Proofing
Sealed, Not tested
Sealed, Not tested